// --------------------------------------------------------------------------------------------------------------------
// <copyright file="SlamPoseToMapPoseAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
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// The above copyright notice and this permission notice shall be included in
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namespace Microsoft.Robotics.Navigation.Runtime.Motion
{
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Navigation.Motion;
    using Microsoft.Robotics.Navigation.Runtime.Localization;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Path tracking drive agent.
    /// </summary>
    [DataContract]
    public class SlamPoseToMapPoseAgent : ConsumerProducerAgent<SLAM2DAgentMessage, SimpleAgentMessage<Pose2D>> 
    {
        /// <summary>
        /// Initializes a new instance of the SlamPoseToMapPoseAgent class.
        /// </summary>
        /// <param name="name">Agent name</param>
        /// <param name="mapProducer">Name of agent producing drive feedback messages.</param>
        public SlamPoseToMapPoseAgent(
            string name,
            IProducer<SLAM2DAgentMessage> mapProducer)
            : base(name, mapProducer.Name)
        {
        }

        /// <summary>
        /// Called upon receiving SLAM message.
        /// </summary>
        /// <param name="slam">SLAM message containing map pose.</param>
        public override void Receive(SLAM2DAgentMessage slam)
        {
            Tracing.TraceOut.Info(Tracing.TraceContexts.Nav, "RobotMapPoseAgent pose: {0}", slam.Map.Pose);
            Pose2D pose = PathPlanningCommon.MapPoseInMetersToStartPoseRelativeInMapCells(slam.Map, slam.Location);
            this.Publisher.Post(new SimpleAgentMessage<Pose2D>(pose, slam));
        }
    }
}
